how to create a custom xml export for custom post types

I can’t find any typical ‘wordpress’ way of using wordpress’ XML exporter (that it uses to export xml for posts and custom post types etc) to specifically export an XML structure custom post types that you specify. Basically I don’t want the exported xml in the format wordpress gives. I want it in this format: and I want the xml accessible from some endpoint on the url. (e.g. – obviously i need a cron that updates that xml file or something similar.

is there a wordpress function that uses the existing xml export to do this or is it a job of creating my own (to do this I’d probably create some multidimensional array, keys will be xml key names i want and the values will just be populated by the database and i’ll recursively add new arrays based on amount of posts etc.)